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<div class="title">fern_trainer.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_ML_FERNS_FERN_TRAINER_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_ML_FERNS_FERN_TRAINER_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> FeatureType, <span class="keyword">class</span> DataSet, <span class="keyword">class</span> LabelType, <span class="keyword">class</span> ExampleIndex, <span class="keyword">class</span> NodeType&gt;</div>
<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classpcl_1_1_fern_trainer.html#ac053613651cc00f38112296336bcecb1">   43</a></span>&#160;<a class="code" href="classpcl_1_1_fern_trainer.html#ac053613651cc00f38112296336bcecb1">pcl::FernTrainer&lt;FeatureType, DataSet, LabelType, ExampleIndex, NodeType&gt;::FernTrainer</a> ()</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  : fern_depth_ (10)</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  , num_of_features_ (1000)</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  , num_of_thresholds_ (10)</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  , feature_handler_ (NULL)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  , stats_estimator_ (NULL)</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  , data_set_ ()</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  , label_data_ ()</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  , examples_ ()</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;}</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> FeatureType, <span class="keyword">class</span> DataSet, <span class="keyword">class</span> LabelType, <span class="keyword">class</span> ExampleIndex, <span class="keyword">class</span> NodeType&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_fern_trainer.html#a7fe4e554a411f05d65380fbabbd2661f">   58</a></span>&#160;<a class="code" href="classpcl_1_1_fern_trainer.html#a7fe4e554a411f05d65380fbabbd2661f">pcl::FernTrainer&lt;FeatureType, DataSet, LabelType, ExampleIndex, NodeType&gt;::~FernTrainer</a> ()</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;{</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;}</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> FeatureType, <span class="keyword">class</span> DataSet, <span class="keyword">class</span> LabelType, <span class="keyword">class</span> ExampleIndex, <span class="keyword">class</span> NodeType&gt;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1_fern_trainer.html#a954e9758098d4f7718b649f2866a0ba6">   66</a></span>&#160;<a class="code" href="classpcl_1_1_fern_trainer.html#a954e9758098d4f7718b649f2866a0ba6">pcl::FernTrainer&lt;FeatureType, DataSet, LabelType, ExampleIndex, NodeType&gt;::train</a> (</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <a class="code" href="classpcl_1_1_fern.html">pcl::Fern&lt;FeatureType, NodeType&gt;</a> &amp; fern)</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;{</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> num_of_branches = stats_estimator_-&gt;getNumOfBranches ();</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> num_of_examples = examples_.size ();</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="comment">// create random features</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  std::vector&lt;FeatureType&gt; features;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  feature_handler_-&gt;createRandomFeatures (num_of_features_, features);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="comment">// setup fern</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  fern.<a class="code" href="classpcl_1_1_fern.html#a0fd5f5bec392df0e63751d3f5b7da73c">initialize</a> (fern_depth_);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="comment">// evaluate all features</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  std::vector&lt;std::vector&lt;float&gt; &gt; feature_results (num_of_features_);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  std::vector&lt;std::vector&lt;unsigned char&gt; &gt; flags (num_of_features_);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> feature_index = 0; feature_index &lt; num_of_features_; ++feature_index)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    feature_results[feature_index].reserve (num_of_examples);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    flags[feature_index].reserve (num_of_examples);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    feature_handler_-&gt;evaluateFeature (features[feature_index],</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                                       data_set_,</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                                       examples_,</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                                       feature_results[feature_index],</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                                       flags[feature_index] );</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="comment">// iteratively select features and thresholds</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  std::vector&lt;std::vector&lt;std::vector&lt;float&gt; &gt; &gt; branch_feature_results (num_of_features_); <span class="comment">// [feature_index][branch_index][result_index]</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  std::vector&lt;std::vector&lt;std::vector&lt;unsigned char&gt; &gt; &gt; branch_flags (num_of_features_); <span class="comment">// [feature_index][branch_index][flag_index]</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  std::vector&lt;std::vector&lt;std::vector&lt;ExampleIndex&gt; &gt; &gt; branch_examples (num_of_features_); <span class="comment">// [feature_index][branch_index][result_index]</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  std::vector&lt;std::vector&lt;std::vector&lt;LabelType&gt; &gt; &gt; branch_label_data (num_of_features_); <span class="comment">// [feature_index][branch_index][flag_index]</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="comment">// - initialize branch feature results and flags</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> feature_index = 0; feature_index &lt; num_of_features_; ++feature_index)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    branch_feature_results[feature_index].resize (1);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    branch_flags[feature_index].resize (1);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    branch_examples[feature_index].resize (1);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    branch_label_data[feature_index].resize (1);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    branch_feature_results[feature_index][0] = feature_results[feature_index];</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    branch_flags[feature_index][0] = flags[feature_index];</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    branch_examples[feature_index][0] = examples_;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    branch_label_data[feature_index][0] = label_data_;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> depth_index = 0; depth_index &lt; fern_depth_; ++depth_index)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="comment">// get thresholds</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    std::vector&lt;std::vector&lt;float&gt; &gt; thresholds (num_of_features_);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> feature_index = 0; feature_index &lt; num_of_features_; ++feature_index)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      thresholds.reserve (num_of_thresholds_);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      createThresholdsUniform (num_of_thresholds_, feature_results[feature_index], thresholds[feature_index]);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="comment">// compute information gain</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordtype">int</span> best_feature_index = -1;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordtype">float</span> best_feature_threshold = 0.0f;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordtype">float</span> best_feature_information_gain = 0.0f;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> feature_index = 0; feature_index &lt; num_of_features_; ++feature_index)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> threshold_index = 0; threshold_index &lt; num_of_thresholds_; ++threshold_index)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      {</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keywordtype">float</span> information_gain = 0.0f;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> branch_index = 0; branch_index &lt; branch_feature_results[feature_index].size (); ++branch_index)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> branch_information_gain = stats_estimator_-&gt;computeInformationGain (data_set_,</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                                                                                          branch_examples[feature_index][branch_index],</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;                                                                                          branch_label_data[feature_index][branch_index],</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                                                                                          branch_feature_results[feature_index][branch_index],</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                                                                                          branch_flags[feature_index][branch_index],</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                                                                                          thresholds[feature_index][threshold_index]);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;          information_gain += branch_information_gain * branch_feature_results[feature_index][branch_index].size ();</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keywordflow">if</span> (information_gain &gt; best_feature_information_gain)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          best_feature_information_gain = information_gain;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          best_feature_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (feature_index);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;          best_feature_threshold = thresholds[feature_index][threshold_index];</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="comment">// add feature to the feature list of the fern</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    fern.<a class="code" href="classpcl_1_1_fern.html#ae7fd7ac6d00ce5c5802ee045e3563d4a">accessFeature</a> (depth_index) = features[best_feature_index];</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    fern.<a class="code" href="classpcl_1_1_fern.html#ad8adce44d84b61469c9d74622ace1ace">accessThreshold</a> (depth_index) = best_feature_threshold;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="comment">// update branch feature results and flags</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> feature_index = 0; feature_index &lt; num_of_features_; ++feature_index)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      std::vector&lt;std::vector&lt;float&gt; &gt; &amp; cur_branch_feature_results = branch_feature_results[feature_index];</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      std::vector&lt;std::vector&lt;unsigned char&gt; &gt; &amp; cur_branch_flags = branch_flags[feature_index];</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      std::vector&lt;std::vector&lt;ExampleIndex&gt; &gt; &amp; cur_branch_examples = branch_examples[feature_index];</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      std::vector&lt;std::vector&lt;LabelType&gt; &gt; &amp; cur_branch_label_data = branch_label_data[feature_index];</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> total_num_of_new_branches = num_of_branches * cur_branch_feature_results.size ();</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      std::vector&lt;std::vector&lt;float&gt; &gt; new_branch_feature_results (total_num_of_new_branches); <span class="comment">// [branch_index][example_index]</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      std::vector&lt;std::vector&lt;unsigned char&gt; &gt; new_branch_flags (total_num_of_new_branches); <span class="comment">// [branch_index][example_index]</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      std::vector&lt;std::vector&lt;ExampleIndex&gt; &gt; new_branch_examples (total_num_of_new_branches); <span class="comment">// [branch_index][example_index]</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      std::vector&lt;std::vector&lt;LabelType&gt; &gt; new_branch_label_data (total_num_of_new_branches); <span class="comment">// [branch_index][example_index]</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> branch_index = 0; branch_index &lt; cur_branch_feature_results.size (); ++branch_index)</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">size_t</span> num_of_examples_in_this_branch = cur_branch_feature_results[branch_index].size ();</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        std::vector&lt;unsigned char&gt; branch_indices;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        branch_indices.reserve (num_of_examples_in_this_branch);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        stats_estimator_-&gt;computeBranchIndices (cur_branch_feature_results[branch_index],</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                                                cur_branch_flags[branch_index],</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                                                best_feature_threshold,</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                                                branch_indices);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="comment">// split results into different branches</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">size_t</span> base_branch_index = branch_index * num_of_branches;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> example_index = 0; example_index &lt; num_of_examples_in_this_branch; ++example_index)</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">size_t</span> combined_branch_index = base_branch_index + branch_indices[example_index];</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          new_branch_feature_results[combined_branch_index].push_back (cur_branch_feature_results[branch_index][example_index]);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          new_branch_flags[combined_branch_index].push_back (cur_branch_flags[branch_index][example_index]);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          new_branch_examples[combined_branch_index].push_back (cur_branch_examples[branch_index][example_index]);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          new_branch_label_data[combined_branch_index].push_back (cur_branch_label_data[branch_index][example_index]);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      branch_feature_results[feature_index] = new_branch_feature_results;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      branch_flags[feature_index] = new_branch_flags;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      branch_examples[feature_index] = new_branch_examples;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      branch_label_data[feature_index] = new_branch_label_data;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="comment">// set node statistics</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <span class="comment">// - re-evaluate selected features</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  std::vector&lt;std::vector&lt;float&gt; &gt; final_feature_results (fern_depth_); <span class="comment">// [feature_index][example_index]</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  std::vector&lt;std::vector&lt;unsigned char&gt; &gt; final_flags (fern_depth_); <span class="comment">// [feature_index][example_index]</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  std::vector&lt;std::vector&lt;unsigned char&gt; &gt; final_branch_indices (fern_depth_); <span class="comment">// [feature_index][example_index]</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> depth_index = 0; depth_index &lt; fern_depth_; ++depth_index)</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    final_feature_results[depth_index].reserve (num_of_examples);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    final_flags[depth_index].reserve (num_of_examples);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    final_branch_indices[depth_index].reserve (num_of_examples);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    feature_handler_-&gt;evaluateFeature (fern.<a class="code" href="classpcl_1_1_fern.html#ae7fd7ac6d00ce5c5802ee045e3563d4a">accessFeature</a> (depth_index),</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                                       data_set_,</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                                       examples_,</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;                                       final_feature_results[depth_index],</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                                       final_flags[depth_index] );</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    stats_estimator_-&gt;computeBranchIndices (final_feature_results[depth_index],</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;                                            final_flags[depth_index],</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;                                            fern.<a class="code" href="classpcl_1_1_fern.html#ad8adce44d84b61469c9d74622ace1ace">accessThreshold</a> (depth_index),</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                                            final_branch_indices[depth_index]);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  }</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <span class="comment">// - distribute examples to nodes</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  std::vector&lt;std::vector&lt;LabelType&gt; &gt; node_labels (0x1 &lt;&lt; fern_depth_); <span class="comment">// [node_index][example_index]</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  std::vector&lt;std::vector&lt;ExampleIndex&gt; &gt; node_examples (0x1 &lt;&lt; fern_depth_); <span class="comment">// [node_index][example_index]</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> example_index = 0; example_index &lt; num_of_examples; ++example_index)</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  {</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="keywordtype">size_t</span> node_index = 0;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> depth_index = 0; depth_index &lt; fern_depth_; ++depth_index)</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    {</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      node_index *= num_of_branches;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      node_index += final_branch_indices[depth_index][example_index];</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    node_labels[node_index].push_back (label_data_[example_index]);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    node_examples[node_index].push_back (examples_[example_index]);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  }</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <span class="comment">// - compute and set statistics for every node</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> num_of_nodes = 0x1 &lt;&lt; fern_depth_;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> node_index = 0; node_index &lt; num_of_nodes; ++node_index)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  {</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    stats_estimator_-&gt;computeAndSetNodeStats (data_set_, node_examples[node_index], node_labels[node_index], fern[node_index]);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  }</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;}</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> FeatureType, <span class="keyword">class</span> DataSet, <span class="keyword">class</span> LabelType, <span class="keyword">class</span> ExampleIndex, <span class="keyword">class</span> NodeType&gt;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="classpcl_1_1_fern_trainer.html#a512ae37a9a02fed93fb47841ef3b0fad">  259</a></span>&#160;<a class="code" href="classpcl_1_1_fern_trainer.html#a512ae37a9a02fed93fb47841ef3b0fad">pcl::FernTrainer&lt;FeatureType, DataSet, LabelType, ExampleIndex, NodeType&gt;::createThresholdsUniform</a> (</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> num_of_thresholds,</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  std::vector&lt;float&gt; &amp; values,</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  std::vector&lt;float&gt; &amp; thresholds)</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;{</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="comment">// estimate range of values</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keywordtype">float</span> min_value = ::std::numeric_limits&lt;float&gt;::max();</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <span class="keywordtype">float</span> max_value = -::std::numeric_limits&lt;float&gt;::max();</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> num_of_values = values.size ();</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> value_index = 0; value_index &lt; num_of_values; ++value_index)</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  {</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> value = values[value_index];</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="keywordflow">if</span> (value &lt; min_value) min_value = value;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <span class="keywordflow">if</span> (value &gt; max_value) max_value = value;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  }</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> range = max_value - min_value;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> step = range / (num_of_thresholds+2);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="comment">// compute thresholds</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  thresholds.resize (num_of_thresholds);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> threshold_index = 0; threshold_index &lt; num_of_thresholds; ++threshold_index)</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  {</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    thresholds[threshold_index] = min_value + step*(threshold_index+1);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  }</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;}</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_fern_html"><div class="ttname"><a href="classpcl_1_1_fern.html">pcl::Fern</a></div><div class="ttdoc">Class representing a Fern.</div><div class="ttdef"><b>Definition:</b> fern.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1_fern_html_a0fd5f5bec392df0e63751d3f5b7da73c"><div class="ttname"><a href="classpcl_1_1_fern.html#a0fd5f5bec392df0e63751d3f5b7da73c">pcl::Fern::initialize</a></div><div class="ttdeci">void initialize(const size_t num_of_decisions)</div><div class="ttdoc">Initializes the fern.</div><div class="ttdef"><b>Definition:</b> fern.h:71</div></div>
<div class="ttc" id="aclasspcl_1_1_fern_html_ad8adce44d84b61469c9d74622ace1ace"><div class="ttname"><a href="classpcl_1_1_fern.html#ad8adce44d84b61469c9d74622ace1ace">pcl::Fern::accessThreshold</a></div><div class="ttdeci">float &amp; accessThreshold(const size_t threshold_index)</div><div class="ttdoc">Access operator for thresholds.</div><div class="ttdef"><b>Definition:</b> fern.h:186</div></div>
<div class="ttc" id="aclasspcl_1_1_fern_html_ae7fd7ac6d00ce5c5802ee045e3563d4a"><div class="ttname"><a href="classpcl_1_1_fern.html#ae7fd7ac6d00ce5c5802ee045e3563d4a">pcl::Fern::accessFeature</a></div><div class="ttdeci">FeatureType &amp; accessFeature(const size_t feature_index)</div><div class="ttdoc">Access operator for features.</div><div class="ttdef"><b>Definition:</b> fern.h:168</div></div>
<div class="ttc" id="aclasspcl_1_1_fern_trainer_html_a512ae37a9a02fed93fb47841ef3b0fad"><div class="ttname"><a href="classpcl_1_1_fern_trainer.html#a512ae37a9a02fed93fb47841ef3b0fad">pcl::FernTrainer::createThresholdsUniform</a></div><div class="ttdeci">static void createThresholdsUniform(const size_t num_of_thresholds, std::vector&lt; float &gt; &amp;values, std::vector&lt; float &gt; &amp;thresholds)</div><div class="ttdoc">Creates uniformely distrebuted thresholds over the range of the supplied values.</div><div class="ttdef"><b>Definition:</b> fern_trainer.hpp:259</div></div>
<div class="ttc" id="aclasspcl_1_1_fern_trainer_html_a7fe4e554a411f05d65380fbabbd2661f"><div class="ttname"><a href="classpcl_1_1_fern_trainer.html#a7fe4e554a411f05d65380fbabbd2661f">pcl::FernTrainer::~FernTrainer</a></div><div class="ttdeci">virtual ~FernTrainer()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> fern_trainer.hpp:58</div></div>
<div class="ttc" id="aclasspcl_1_1_fern_trainer_html_a954e9758098d4f7718b649f2866a0ba6"><div class="ttname"><a href="classpcl_1_1_fern_trainer.html#a954e9758098d4f7718b649f2866a0ba6">pcl::FernTrainer::train</a></div><div class="ttdeci">void train(Fern&lt; FeatureType, NodeType &gt; &amp;fern)</div><div class="ttdoc">Trains a decision tree using the set training data and settings.</div><div class="ttdef"><b>Definition:</b> fern_trainer.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_fern_trainer_html_ac053613651cc00f38112296336bcecb1"><div class="ttname"><a href="classpcl_1_1_fern_trainer.html#ac053613651cc00f38112296336bcecb1">pcl::FernTrainer::FernTrainer</a></div><div class="ttdeci">FernTrainer()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> fern_trainer.hpp:43</div></div>
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